void ConvertDepthFrameToArray(const NUI_IMAGE_FRAME& frame, DataTypes::DepthImage& image)
{

	assert(frame.eImageType == NUI_IMAGE_TYPE_DEPTH);
	assert(frame.eResolution == NUI_IMAGE_RESOLUTION_640x480);
	INuiFrameTexture* texture = frame.pFrameTexture;
	NUI_LOCKED_RECT lockedRect;
		
	// Lock the frame data so the Kinect knows not to modify it while we're reading it
	texture->LockRect(0, &lockedRect, NULL, 0);

	{
		// Make sure we've received valid data
		if (lockedRect.Pitch == 0)
		{
			texture->UnlockRect(0);
			throw -1;
		}


		//////////////////////////////

		assert((lockedRect.size % sizeof(short)) == 0);
		assert((lockedRect.Pitch % sizeof(short)) == 0);
		int cols = lockedRect.Pitch / sizeof(short);
		int rows = lockedRect.size / lockedRect.Pitch;


		memcpy(depthData, lockedRect.pBits, lockedRect.size);

		int byteNum = 0;
		for(int y=0; y<rows; y++)
		{
			for(int x=0; x<cols; x++)
			{
			
				const unsigned short& pixel = (unsigned short&)lockedRect.pBits[byteNum];
				DepthPixel& depth = image.data[y][x];
			
				// discard the portion of the depth that contains only the player index
				depth = NuiDepthPixelToDepth(pixel);

				byteNum += sizeof(short);
			}
		}

		image.rows = rows;
		image.cols = cols;

		//////////////////////////////


	}

	// We're done with the texture so unlock it
	texture->UnlockRect(0);
	
	return;
}
void ConvertColorFrameToArray(const NUI_IMAGE_FRAME& frame, DataTypes::ColorImage& image)
{

	assert(frame.eImageType == NUI_IMAGE_TYPE_COLOR);
	assert(frame.eResolution == NUI_IMAGE_RESOLUTION_640x480);
	INuiFrameTexture* texture = frame.pFrameTexture;
	NUI_LOCKED_RECT lockedRect;
		
	// Lock the frame data so the Kinect knows not to modify it while we're reading it
	texture->LockRect(0, &lockedRect, NULL, 0);

	{
		// Make sure we've received valid data
		if (lockedRect.Pitch == 0)
		{
			texture->UnlockRect(0);
			throw -1;
		}

	
		//////////////////////////////

		assert((lockedRect.size % 4) == 0);
		assert((lockedRect.Pitch % 4) == 0);
		int cols = lockedRect.Pitch / 4;
		int rows = lockedRect.size / lockedRect.Pitch;


		int byteNum = 0;
		for(int y=0; y<rows; y++)
		{
			for(int x=0; x<cols; x++)
			{
			
				const RgbPixel& pixel = (RgbPixel&)lockedRect.pBits[byteNum];
				ColorPixel& color = image.data[y][x];
			
				color.red = pixel.red();
				color.green = pixel.green();
				color.blue = pixel.blue();
			
				byteNum += 4;
			}
		}

		image.rows = rows;
		image.cols = cols;

		//////////////////////////////

	}

	// We're done with the texture so unlock it
	texture->UnlockRect(0);
	
	return;
}
void updateImageFrame( NUI_IMAGE_FRAME& imageFrame, bool isDepthFrame )
{
    INuiFrameTexture* nuiTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT lockedRect;
    nuiTexture->LockRect( 0, &lockedRect, NULL, 0 );
    if ( lockedRect.Pitch!=NULL )
    {
        const BYTE* buffer = (const BYTE*)lockedRect.pBits;
        for ( int i=0; i<480; ++i )
        {
            const BYTE* line = buffer + i * lockedRect.Pitch;
            const USHORT* bufferWord = (const USHORT*)line;
            for ( int j=0; j<640; ++j )
            {
                if ( !isDepthFrame )
                {
                    unsigned char* ptr = colorTexture->bits + 3 * (i * 640 + j);
                    *(ptr + 0) = line[4 * j + 2];
                    *(ptr + 1) = line[4 * j + 1];
                    *(ptr + 2) = line[4 * j + 0];
                }
                else
                    setPlayerColorPixel( bufferWord[j], j, i, 255 );
            }
        }
        
        TextureObject* tobj = (isDepthFrame ? playerColorTexture : colorTexture);
        glBindTexture( GL_TEXTURE_2D, tobj->id );
        glTexImage2D( GL_TEXTURE_2D, 0, tobj->internalFormat, tobj->width, tobj->height,
                      0, tobj->imageFormat, GL_UNSIGNED_BYTE, tobj->bits );
    }
    nuiTexture->UnlockRect( 0 );
}
Ejemplo n.º 4
0
void SimpleKinect::UpdateColor()
{
	HRESULT hr;
    NUI_IMAGE_FRAME imageFrame;
	hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_pColorStreamHandle, 0, &imageFrame);
    if (FAILED(hr))
    {
        return;
    }

	INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT LockedRect;
	// Lock the frame data so the Kinect knows not to modify it while we're reading it
    pTexture->LockRect(0, &LockedRect, NULL, 0);

	// make sure we're receiving real data
	if (LockedRect.Pitch == 0) 
	{
		return;
	}

	// copy current to old
	memcpy(m_pPrevRGB, m_pCurrentRGB, LockedRect.size);
	    
	// copy in data to current
	memcpy(m_pCurrentRGB, LockedRect.pBits, LockedRect.size);

    // We're done with the texture so unlock it
    pTexture->UnlockRect(0);

    // Release the frame
    m_pNuiSensor->NuiImageStreamReleaseFrame(m_pColorStreamHandle, &imageFrame);

}
Ejemplo n.º 5
0
//Put the kinect imageframe data onto a Mat
Mat* KOCVStream::kFrameToMat(NUI_IMAGE_FRAME* imageFrame){

	Mat* frame = new Mat(height, width, CV_8U);
	
	NUI_LOCKED_RECT LockedRect;

	//Lock the imageFrame such that kinnect cannot write on it
	INuiFrameTexture* texture = imageFrame->pFrameTexture;
	texture->LockRect(0, &LockedRect, NULL, 0);

	//Get the kinect depth data
	BYTE* imageData;
	
	kinect->getDepthData(&LockedRect);
	imageData = kinect->dataPix;
	
	//If the data is not empty convert it to Mat
	if (LockedRect.Pitch != 0){
		/* //Do not do new above!
		   frame=new Mat(height, width, CV_8U, imageData);	
		*/
		Mat tempMat(height, width, CV_8U, imageData);
		tempMat.copyTo(*frame);
	}
	else{
		return new Mat();
	}
	
	//Release the frame
	texture->UnlockRect(0);

	return frame;
};
void getDepthData(GLubyte* dest) {
	float* fdest = (float*) dest;
	long* depth2rgb = (long*) depthToRgbMap;
    NUI_IMAGE_FRAME imageFrame;
    NUI_LOCKED_RECT LockedRect;
    if (sensor->NuiImageStreamGetNextFrame(depthStream, 0, &imageFrame) < 0) return;
    INuiFrameTexture* texture = imageFrame.pFrameTexture;
    texture->LockRect(0, &LockedRect, NULL, 0);
    if (LockedRect.Pitch != 0) {
        const USHORT* curr = (const USHORT*) LockedRect.pBits;
        for (int j = 0; j < height; ++j) {
			for (int i = 0; i < width; ++i) {
				// Get depth of pixel in millimeters
				USHORT depth = NuiDepthPixelToDepth(*curr++);
				// Store coordinates of the point corresponding to this pixel
				Vector4 pos = NuiTransformDepthImageToSkeleton(i, j, depth<<3, NUI_IMAGE_RESOLUTION_640x480);
				*fdest++ = pos.x/pos.w;
				*fdest++ = pos.y/pos.w;
				*fdest++ = pos.z/pos.w;
				// Store the index into the color array corresponding to this pixel
				NuiImageGetColorPixelCoordinatesFromDepthPixelAtResolution(
					NUI_IMAGE_RESOLUTION_640x480, NUI_IMAGE_RESOLUTION_640x480, NULL,
					i, j, depth<<3, depth2rgb, depth2rgb+1);
				depth2rgb += 2;
			}
		}
    }
    texture->UnlockRect(0);
    sensor->NuiImageStreamReleaseFrame(depthStream, &imageFrame);
}
void getRgbData(GLubyte* dest) {
	float* fdest = (float*) dest;
	long* depth2rgb = (long*) depthToRgbMap;
	NUI_IMAGE_FRAME imageFrame;
    NUI_LOCKED_RECT LockedRect;
    if (sensor->NuiImageStreamGetNextFrame(rgbStream, 0, &imageFrame) < 0) return;
    INuiFrameTexture* texture = imageFrame.pFrameTexture;
    texture->LockRect(0, &LockedRect, NULL, 0);
    if (LockedRect.Pitch != 0) {
        const BYTE* start = (const BYTE*) LockedRect.pBits;
        for (int j = 0; j < height; ++j) {
			for (int i = 0; i < width; ++i) {
				// Determine rgb color for each depth pixel
				long x = *depth2rgb++;
				long y = *depth2rgb++;
				// If out of bounds, then don't color it at all
				if (x < 0 || y < 0 || x > width || y > height) {
					for (int n = 0; n < 3; ++n) *(fdest++) = 0.0f;
				}
				else {
					const BYTE* curr = start + (x + width*y)*4;
					for (int n = 0; n < 3; ++n) *(fdest++) = curr[2-n]/255.0f;
				}

			}
		}
    }
    texture->UnlockRect(0);
    sensor->NuiImageStreamReleaseFrame(rgbStream, &imageFrame);
}
Ejemplo n.º 8
0
bool Nui_GotColorAlert( )
{
	NUI_IMAGE_FRAME imageFrame;
	bool processedFrame = true;

	HRESULT hr = m_pNuiSensor->NuiImageStreamGetNextFrame( m_pVideoStreamHandle, 0, &imageFrame );

	if ( FAILED( hr ) )
	{
		return false;
	}

	INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
	NUI_LOCKED_RECT LockedRect;
	pTexture->LockRect( 0, &LockedRect, NULL, 0 );
	if ( LockedRect.Pitch != 0 )
	{
		memcpy(g_ColorsData, LockedRect.pBits, LockedRect.size);
	}
	else
	{
		//OutputDebugString( L"Buffer length of received texture is bogus\r\n" );
		processedFrame = false;
	}

	pTexture->UnlockRect( 0 );

	m_pNuiSensor->NuiImageStreamReleaseFrame( m_pVideoStreamHandle, &imageFrame );

	return processedFrame;
}
Ejemplo n.º 9
0
ci::gl::Texture *moduleCapture::getNextFrame()
{	
	HRESULT hr = sensor->NuiImageStreamGetNextFrame(colorStreamHandle, 0, pColorImageFrame); // Obtiene el siguiente frame del kinect
	if (FAILED(hr)){
		return NULL; // Si habia error, retorna NULL
	}
	INuiFrameTexture *colorTexture = pColorImageFrame->pFrameTexture;
	NUI_LOCKED_RECT *colorRect = new NUI_LOCKED_RECT;
	colorTexture->LockRect( 0, colorRect, 0, 0 );
	if(colorRect->Pitch == 0){
		return NULL;
	}

	// Crea un gl::Texture con los datos del frame
	uint8_t *buffer = colorRect->pBits;
	int size        = resolution.width * resolution.height * 4;
	ci::gl::Texture *texture = new ci::gl::Texture(buffer, GL_BGRA, resolution.width, resolution.height);
	colorTexture->UnlockRect(0);

	// Libera el frame del kinect
	sensor->NuiImageStreamReleaseFrame(colorStreamHandle, pColorImageFrame);

	// Retorna la textura
	return texture;
}
Ejemplo n.º 10
0
/// <summary>
/// Handle new color data
/// </summary>
/// <returns>indicates success or failure</returns>
void CDataCollection::ProcessColor()
{
    HRESULT hr;
    NUI_IMAGE_FRAME imageFrame;
	//DEBUG("Process color!\n");
    // Attempt to get the color frame
    hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_pColorStreamHandle, 0, &imageFrame);
    if (FAILED(hr))
    {
        return;
    }
	

    INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT LockedRect;

    // Lock the frame data so the Kinect knows not to modify it while we're reading it
    pTexture->LockRect(0, &LockedRect, NULL, 0);

    // Make sure we've received valid data
    if (LockedRect.Pitch != 0)
    {
        // Draw the data with Direct2D
        m_pDrawColor->Draw(static_cast<BYTE *>(LockedRect.pBits), LockedRect.size);

      
        
    }

    // We're done with the texture so unlock it
    pTexture->UnlockRect(0);

    // Release the frame
    m_pNuiSensor->NuiImageStreamReleaseFrame(m_pColorStreamHandle, &imageFrame);
}
Ejemplo n.º 11
0
void getKinectData(int* data) {
	NUI_IMAGE_FRAME imageFrame;
	NUI_LOCKED_RECT LockedRect;
	if(sensor->NuiImageStreamGetNextFrame(depthStream, 0, &imageFrame) < 0) return;
	INuiFrameTexture* texture = imageFrame.pFrameTexture;
	texture->LockRect(0, &LockedRect, NULL, 0);
	if (LockedRect.Pitch != 0) 
	{
		const USHORT* curr = (const USHORT*) LockedRect.pBits;
		const USHORT* dataEnd = curr + (width*height);

		while (curr < dataEnd) {
			//Get Depth in mm
			USHORT depth = NuiDepthPixelToDepth(*curr++);

			//Insert code to build a 640x480 matrix
			for (int i = 0; i= height*width - 1; ++i){
				*data++ = depth;

			}
		}
	}
	texture->UnlockRect(0);
	sensor->NuiImageStreamReleaseFrame(depthStream, &imageFrame);

}
/// <summary>
/// Handle new color data
/// </summary>
/// <returns>S_OK for success or error code</returns>
HRESULT KinectEasyGrabber::ProcessColor()
{
    HRESULT hr = S_OK;
    NUI_IMAGE_FRAME imageFrame;

    // Attempt to get the depth frame
    hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_pColorStreamHandle, 0, &imageFrame);
    if (FAILED(hr))
    {
        return hr;
    }

    m_colorTimeStamp = imageFrame.liTimeStamp;

    INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT LockedRect;

    // Lock the frame data so the Kinect knows not to modify it while we're reading it
    pTexture->LockRect(0, &LockedRect, NULL, 0);

    // Make sure we've received valid data
    if (LockedRect.Pitch != 0)
    {
        memcpy(m_colorRGBX, LockedRect.pBits, LockedRect.size);
    }

    // We're done with the texture so unlock it
    pTexture->UnlockRect(0);

    // Release the frame
    m_pNuiSensor->NuiImageStreamReleaseFrame(m_pColorStreamHandle, &imageFrame);

    return hr;
}
Ejemplo n.º 13
0
    void nextDepthFrame ()
    {
        NUI_IMAGE_FRAME depthFrame;

        WinRet ret = sensor->NuiImageStreamGetNextFrame(depthStreamHandle, 0, &depthFrame);

        if (FAILED(ret))
            return;

        BOOL nearModeOperational = false;
        INuiFrameTexture* texture = 0;
        ret = sensor->NuiImageFrameGetDepthImagePixelFrameTexture(depthStreamHandle, &depthFrame, &nearModeOperational, &texture);

        if (FAILED(ret))
            return;

        NUI_LOCKED_RECT lockedRect;
        texture->LockRect(0, &lockedRect, NULL, 0);
        if (0 != lockedRect.Pitch)
        {
            NUI_SURFACE_DESC surfaceDesc;
            texture->GetLevelDesc(0, &surfaceDesc);
            const int width  = surfaceDesc.Width;
            const int height = surfaceDesc.Height;

            NUI_DEPTH_IMAGE_PIXEL* extended_buf = reinterpret_cast<NUI_DEPTH_IMAGE_PIXEL*>(lockedRect.pBits);

            ntk_assert(width  == that->m_current_image.rawDepth16bits().cols, "Bad width");
            ntk_assert(height == that->m_current_image.rawDepth16bits().rows, "Bad height");

            if (that->m_align_depth_to_color)
            {
                QWriteLocker locker(&that->m_lock);
                uint16_t* depth_buf = that->m_current_image.rawDepth16bitsRef().ptr<uint16_t>();
                mapDepthFrameToRgbFrame(extended_buf, depth_buf);
            }
            else
            {
                QWriteLocker locker(&that->m_lock);
                uint16_t* depth_buf = that->m_current_image.rawDepth16bitsRef().ptr<uint16_t>();
                cv::Vec2w* depth_to_color_coords = that->m_current_image.depthToRgbCoordsRef().ptr<cv::Vec2w>();
                extractDepthAndColorCoords (extended_buf, depth_buf, depth_to_color_coords);
            }
        }
        else
        {
            debug(L"Buffer length of received texture is bogus\r\n");
        }

        texture->UnlockRect(0);

        sensor->NuiImageStreamReleaseFrame(depthStreamHandle, &depthFrame);

        dirtyDepth = false;
    }
/// <summary>
/// Process the incoming color frame
/// </summary>
void NuiColorStream::ProcessColor()
{
    HRESULT hr;
    NUI_IMAGE_FRAME imageFrame;

    // Attempt to get the color frame
    hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_hStreamHandle, 0, &imageFrame);
    if (FAILED(hr))
    {
        return;
    }

    if (m_paused)
    {
        // Stream paused. Skip frame process and release the frame.
        goto ReleaseFrame;
    }

    INuiFrameTexture* pTexture = imageFrame.pFrameTexture;

    // Lock the frame data so the Kinect knows not to modify it while we are reading it
    NUI_LOCKED_RECT lockedRect;
    pTexture->LockRect(0, &lockedRect, NULL, 0);

    // Make sure we've received valid data
    if (lockedRect.Pitch != 0)
    {
        switch (m_imageType)
        {
        case NUI_IMAGE_TYPE_COLOR_RAW_BAYER:    // Convert raw bayer data to color image and copy to image buffer
            m_imageBuffer.CopyBayer(lockedRect.pBits, lockedRect.size);
            break;

        case NUI_IMAGE_TYPE_COLOR_INFRARED:     // Convert infrared data to color image and copy to image buffer
            m_imageBuffer.CopyInfrared(lockedRect.pBits, lockedRect.size);
            break;

        default:    // Copy color data to image buffer
            m_imageBuffer.CopyRGB(lockedRect.pBits, lockedRect.size);
            break;
        }

        if (m_pStreamViewer)
        {
            // Set image data to viewer
            m_pStreamViewer->SetImage(&m_imageBuffer);
        }
    }

    // Unlock frame data
    pTexture->UnlockRect(0);

ReleaseFrame:
    m_pNuiSensor->NuiImageStreamReleaseFrame(m_hStreamHandle, &imageFrame);
}
Ejemplo n.º 15
0
/// <summary>
/// Main processing function
/// </summary>
void CSkeletonBasics::Update()
{
    if (NULL == m_pNuiSensor)
    {
        return;
    }

    // Wait for 0ms, just quickly test if it is time to process a skeleton
    if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextSkeletonEvent, 0) )
    {
        ProcessSkeleton();
    }

	if (WAIT_OBJECT_0 == WaitForSingleObject(hColorEvent, 0))
	{
		// Colorカメラからフレームを取得
		hResult = m_pNuiSensor->NuiImageStreamGetNextFrame(hColorHandle, 0, &colorImageFrame);
		if (FAILED(hResult)) {
			std::cout << "Error : NuiImageStreamGetNextFrame( COLOR )" << std::endl;
			return;
		}

		if (shutter == 1) {
			// Color画像データの取得
			INuiFrameTexture* pColorFrameTexture = colorImageFrame.pFrameTexture;
			NUI_LOCKED_RECT colorLockedRect;
			pColorFrameTexture->LockRect(0, &colorLockedRect, nullptr, 0);


			// Retrieve the path to My Photos
			WCHAR screenshotPath[MAX_PATH];
			GetScreenshotFileName(screenshotPath, _countof(screenshotPath));

			// Write out the bitmap to disk
			hResult = SaveBitmapToFile(static_cast<BYTE *>(colorLockedRect.pBits), 640, 480, 32, screenshotPath);

			if (SUCCEEDED(hResult))
			{
				std::cout << "saved" << std::endl;
			}
			else
			{
				std::cout << "unsave!!" << std::endl;
			}


			// フレームの解放
			pColorFrameTexture->UnlockRect(0);
			shutter = 0;
		}

		//リリース
		pNuiSensor->NuiImageStreamReleaseFrame(hColorHandle, &colorImageFrame);
	}
}
Ejemplo n.º 16
0
/// <summary>
/// 
/// </summary>
void ProcessColor(){
	HRESULT hr;
	NUI_IMAGE_FRAME imageFrame;

	hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_pStreamColorHandle, 0, &imageFrame);
	if (FAILED(hr))	{
		return;
	}

	INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT LockedRect;

    // Lock the frame data so the Kinect knows not to modify it while we're reading it
    pTexture->LockRect(0, &LockedRect, NULL, 0);

    // Make sure we've received valid data
    if (LockedRect.Pitch != 0) {
		cv::Mat colorFrame(cHeight, cWidth, CV_8UC3);

		for(int i = 0; i < cHeight; i++) {
			uchar *ptr = colorFrame.ptr<uchar>(i);
			uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;

			for(int j = 0; j < cWidth; j++)	{
				ptr[3*j] = pBuffer[4*j];
				ptr[3*j+1] = pBuffer[4*j+1];
				ptr[3*j+2] = pBuffer[4*j+2];
			}
		}

		// Draw image
		if (m_bShow) {
			cv::imshow("Color", colorFrame);
			cv::waitKey(1);
		}

		// If m_bRecord
		if (m_bRecord) {
			// Retrieve the path to My Photos
            WCHAR screenshotPath[MAX_PATH];

            // Write out the bitmap to disk
			GetScreenshotFileName(screenshotPath, _countof(screenshotPath), COLOR);

			std::wstring screenshotPathWStr(screenshotPath);
			std::string screenshotPathStr(screenshotPathWStr.begin(), screenshotPathWStr.end());
			
			cv::imwrite(screenshotPathStr, colorFrame);
		}
	}

	pTexture->UnlockRect(0);
	m_pNuiSensor->NuiImageStreamReleaseFrame(m_pStreamColorHandle, &imageFrame);
}
Ejemplo n.º 17
0
void storeNuiImage(void)
{
	NUI_IMAGE_FRAME imageFrame;

	if(WAIT_OBJECT_0 != WaitForSingleObject(hNextColorFrameEvent, 0)) return;

	HRESULT hr =  pNuiSensor->NuiImageStreamGetNextFrame(
		pVideoStreamHandle,
		0,
		&imageFrame );
	if( FAILED( hr ) ){
		return;
	}
	if(imageFrame.eImageType != NUI_IMAGE_TYPE_COLOR)
		STDERR("Image type is not match with the color\r\n");

	INuiFrameTexture *pTexture = imageFrame.pFrameTexture;
	NUI_LOCKED_RECT LockedRect;
	pTexture->LockRect( 0, &LockedRect, NULL, 0 );
	if( LockedRect.Pitch != 0 ){
		byte * pBuffer = (byte *)LockedRect.pBits;
#if defined(USE_FACETRACKER)
		setColorImage(LockedRect.pBits, LockedRect.size);
#endif
		NUI_SURFACE_DESC pDesc;
		pTexture->GetLevelDesc(0, &pDesc);
		//printf("w: %d, h: %d, byte/pixel: %d\r\n", pDesc.Width, pDesc.Height, LockedRect.Pitch/pDesc.Width);
		typedef struct t_RGBA{
			byte r;
			byte g;
			byte b;
			byte a;
		};
		t_RGBA *p = (t_RGBA *)pBuffer;
		for(int i=0;i<pTexture->BufferLen()/4;i++){
			byte b = p->b;
			p->b = p->r;
			p->r = b;
			p->a = (byte)255;
			p++;
		}

		glBindTexture(GL_TEXTURE_2D, bg_texture[IMAGE_TEXTURE]);
		glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
		glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA,
			pDesc.Width,  pDesc.Height,
			0, GL_RGBA, GL_UNSIGNED_BYTE, pBuffer);
		pTexture->UnlockRect(0);
	}else{
		STDERR("Buffer length of received texture is bogus\r\n");
	}

	pNuiSensor->NuiImageStreamReleaseFrame( pVideoStreamHandle, &imageFrame );
}
/// <summary>
/// Retrieve depth data from stream frame
/// </summary>
void NuiDepthStream::ProcessDepth()
{
    HRESULT         hr;
    NUI_IMAGE_FRAME imageFrame;

    // Attempt to get the depth frame
    hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_hStreamHandle, 0, &imageFrame);
    if (FAILED(hr))
    {
        return;
    }

    if (m_paused)
    {
        // Stream paused. Skip frame process and release the frame.
        goto ReleaseFrame;
    }

    BOOL nearMode;
    INuiFrameTexture* pTexture;

    // Get the depth image pixel texture
    hr = m_pNuiSensor->NuiImageFrameGetDepthImagePixelFrameTexture(m_hStreamHandle, &imageFrame, &nearMode, &pTexture);
    if (FAILED(hr))
    {
        goto ReleaseFrame;
    }

    NUI_LOCKED_RECT lockedRect;

    // Lock the frame data so the Kinect knows not to modify it while we're reading it
    pTexture->LockRect(0, &lockedRect, NULL, 0);

    // Make sure we've received valid data
    if (lockedRect.Pitch != 0)
    {
        // Conver depth data to color image and copy to image buffer
        m_imageBuffer.CopyDepth(lockedRect.pBits, lockedRect.size, nearMode, m_depthTreatment);

        // Draw ou the data with Direct2D
        if (m_pStreamViewer)
        {
            m_pStreamViewer->SetImage(&m_imageBuffer);
        }
    }

    // Done with the texture. Unlock and release it
    pTexture->UnlockRect(0);
    pTexture->Release();

ReleaseFrame:
    // Release the frame
    m_pNuiSensor->NuiImageStreamReleaseFrame(m_hStreamHandle, &imageFrame);
}
Ejemplo n.º 19
0
USHORT* KTM::KinectWrapper::getDepthFromKinectStream(){
    HRESULT hr;

	/* Get the next frame from the Kinect stream */
    NUI_IMAGE_FRAME imageFrame;
    hr = pKinectSensor->NuiImageStreamGetNextFrame(hDepthStreamHandle, 0, &imageFrame);

	/* Quit if the frame couldn't be recieved */
    if (FAILED(hr))
        return NULL;

	/* Get the frame as a texture so we can get the frame rectangle */
	/* and lock the handle on the frame so it's not overwritten by  */
	/* the Kinect while we're using it                              */
    INuiFrameTexture* pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT lockedRect;
    pTexture->LockRect(0, &lockedRect, NULL, 0);

    /* Make sure we have valid data */
    if (lockedRect.Pitch != 0){
		/* Use the assigned data heap to avoid memory leaks and avoid */
		/* needlessly assigning new memory                            */
        USHORT* mFrameData = mDepthDataHeap;

		/* Pointer to the top left corner of rectangle, and pointer */
		/* to the frame end                                         */
        const USHORT* pBufferRun = (const unsigned short*)lockedRect.pBits;
        const USHORT* pBufferEnd = pBufferRun + (depthFrameWidth * depthFrameHeight);

        while ( pBufferRun < pBufferEnd ){
            /* discard the portion of the depth that contains only the player index */
            USHORT depth = NuiDepthPixelToDepth(*pBufferRun);

            /* Convert the returned depth to a char, discarding the most significant */
			/* bits in favor of the least significant                                */
            USHORT intensity = depth;

            /* Save the depth data */
            *(mFrameData++) = intensity;

            // Increment our index into the Kinect's depth buffer
            ++pBufferRun;
        }
    }

    /* Unlock the rectangle and release the frame */
    pTexture->UnlockRect(0);
    pKinectSensor->NuiImageStreamReleaseFrame(hDepthStreamHandle, &imageFrame);

	return mDepthDataHeap;
}
Ejemplo n.º 20
0
void KinectStreamImpl::mainLoop()
{
	m_running = TRUE;
	while (m_running)
	{
		if ( WAIT_OBJECT_0 == WaitForSingleObject(m_hNextFrameEvent, LOOP_TIMEOUT) && m_running)
		{
			HRESULT hr;
			NUI_IMAGE_FRAME imageFrame;
			OniDriverFrame* pFrame = NULL;
			hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_hStreamHandle, 0, &imageFrame);
			if (FAILED(hr))
			{
				continue;
			}
			INuiFrameTexture * pTexture;
			if (m_sensorType == ONI_SENSOR_DEPTH)
			{
				BOOL nearMode;
				// Get the depth image pixel texture
				hr = m_pNuiSensor->NuiImageFrameGetDepthImagePixelFrameTexture(
					m_hStreamHandle, &imageFrame, &nearMode, &pTexture);
			}
			else
			{
				pTexture = imageFrame.pFrameTexture;	
			}

			NUI_LOCKED_RECT LockedRect;

			// Lock the frame data so the Kinect knows not to modify it while we're reading it
			pTexture->LockRect(0, &LockedRect, NULL, 0);
			if (LockedRect.Pitch != 0)
			{
				List<BaseKinectStream*>::ConstIterator iter = m_streamList.Begin();
				while( iter != m_streamList.End())
				{
					if (((BaseKinectStream*)(*iter))->isRunning())
						((BaseKinectStream*)(*iter))->frameReceived(imageFrame, LockedRect);
					++iter;
				}
			}
			// We're done with the texture so unlock it
			pTexture->UnlockRect(0);

			// Release the frame
			m_pNuiSensor->NuiImageStreamReleaseFrame(m_hStreamHandle, &imageFrame);
		}		
	}
	return;
}
/* Function: getColorImage
* Inputs: 
colorEvent - a reference to a handle for the color event
colorStreamHandle - a reference to a handle for the color stream
colorImage - a reference to the Mat for color image

* Outputs: void
*/
void getColorImage(HANDLE &colorEvent, HANDLE &colorStreamHandle, Mat &colorImage) 
{ 
	//initialize structure containing all metadata about the frame: number, resolution, etc.
	const NUI_IMAGE_FRAME *colorFrame = NULL; 

	//gets the next fram of data from 'colorStreamHandle', waits 0 ms before returning
	// and passes a reference to a NUI_IMAGE_FRAME 'colorFrame' that contains next image frame
	//return value: HRESULT
	NuiImageStreamGetNextFrame(colorStreamHandle, 0, &colorFrame); 

	//manages the frame data
	INuiFrameTexture *pTexture = colorFrame->pFrameTexture;   

	//pointer to actual data
	NUI_LOCKED_RECT LockedRect; 

	//lock frame data so Kinect knows not to modify it while we're reading
    pTexture->LockRect(0, &LockedRect, NULL, 0);   

	//if # of bytes in 1 row of texture resource != 0, proceed
	//make sure we've received valid data
	if( LockedRect.Pitch != 0 ) 
	{ 
		//loop through the rows of the color image to receive byte/pixel data
		for (int i=0; i<colorImage.rows; i++) 
		{
			//unsigned char ptr returns pointer to specified row matrix
			uchar *ptr = colorImage.ptr<uchar>(i);  

			//pbuffer = bits in lockedrect + currentrow# * bytes in pitch
			uchar *pBuffer = (uchar*)(LockedRect.pBits) + i * LockedRect.Pitch;

			for (int j=0; j<colorImage.cols; j++) //loop through the columns in Mat colorIMage
			{ 
				   ptr[3*j] = pBuffer[4*j];
				   ptr[3*j+1] = pBuffer[4*j+1]; 
				   ptr[3*j+2] = pBuffer[4*j+2]; 
			} 
		} 
	}//end of if statement 
	else 
	{ 
		cout<<"Failed to receive valid data from LockedRect!"<<endl; 
	}

	//unlocks the pTexture buffer
	pTexture->UnlockRect(0); 

	//releases colorStream handle and color frame
	NuiImageStreamReleaseFrame(colorStreamHandle, colorFrame);
} 
Ejemplo n.º 22
0
void storeNuiDepth(bool waitflag)
{
	NUI_IMAGE_FRAME depthFrame;

	if(waitflag) WaitForSingleObject(hNextDepthFrameEvent, INFINITE);
	else if(WAIT_OBJECT_0 != WaitForSingleObject(hNextDepthFrameEvent, 0)) return;

	HRESULT hr = pNuiSensor->NuiImageStreamGetNextFrame(
		pDepthStreamHandle,
		0,
		&depthFrame );
	if( FAILED( hr ) ){
		return;
	}
	if(depthFrame.eImageType != NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX)
		STDERR("Depth type is not match with the depth and players\r\n");

	INuiFrameTexture *pTexture = depthFrame.pFrameTexture;

	NUI_LOCKED_RECT LockedRect;
	pTexture->LockRect( 0, &LockedRect, NULL, 0 );
	D3DLOCKED_RECT LPdest;
	DepthTex->LockRect(0,&LPdest,NULL, 0);

	if( LockedRect.Pitch != 0 ){
		unsigned short *pBuffer = (unsigned short *)LockedRect.pBits;
		unsigned char *pDestImage=(unsigned char*)LPdest.pBits;

		NUI_SURFACE_DESC pDesc;
		pTexture->GetLevelDesc(0, &pDesc);

		unsigned short *p = (unsigned short *)pBuffer;
		for(int y=0;y<60;y++){
			for(int x=0;x<80;x++){
				unsigned char depth = (unsigned char)((*pBuffer & 0xff00)>>8);
				unsigned short playerID = NuiDepthPixelToPlayerIndex(*pBuffer);
				*pDestImage = (unsigned char)(Colors[playerID][0] * depth);
				pDestImage++;
				*pDestImage = (unsigned char)(Colors[playerID][1] * depth);
				pDestImage++;
				*pDestImage = (unsigned char)(Colors[playerID][2] * depth);
				pDestImage++;
				*pDestImage = 255;
				pDestImage++;
				pBuffer++;
			}
			pDestImage += (128-80)*4;
		}
		DepthTex->UnlockRect(0);
		pTexture->UnlockRect(0);
	}
bool KinectCapture::GetDepthImage(cv::Mat & image)
{
	NUI_IMAGE_FRAME imageFrame;
	NUI_LOCKED_RECT lockedRect;
	HRESULT hr;
	image = cv::Mat::zeros(m_ColorHeight, m_ColorWidth, CV_16U);
	// Get a depth frame from Kinect
	hr = m_NuiSensor->NuiImageStreamGetNextFrame(m_DepthStreamHandle, 30, &imageFrame);
	if (FAILED(hr))
	{
		if (hr == E_NUI_FRAME_NO_DATA)
		{
			return false;
		}
		else
		{
			std::cout << "Kinect NuiImageStreamGetNextFrame call failed." << std::endl;
		}

		return false;
	}
	INuiFrameTexture* depthTexture = imageFrame.pFrameTexture;
	// Lock the frame data to access depth data
	hr = depthTexture->LockRect(0, &lockedRect, NULL, 0);
	if (FAILED(hr) || lockedRect.Pitch == 0)
	{
		std::cout << "Error getting depth texture pixels." << std::endl;
		return false;
	}
	// Copy the depth pixels so we can return the image frame
	errno_t err = memcpy_s(m_depthImagePixelBuffer, m_DepthImagePixels * sizeof(USHORT), lockedRect.pBits, depthTexture->BufferLen());
	depthTexture->UnlockRect(0);
	if (0 != err)
	{
		std::cout << "Error copying  depth texture pixels." << std::endl;
		return false;
	}

	// Release the Kinect camera frame
	m_NuiSensor->NuiImageStreamReleaseFrame(m_DepthStreamHandle, &imageFrame);

	if (FAILED(hr))
	{
		std::cout << "Kinect Depth stream NuiImageStreamReleaseFrame call failed." << std::endl;
		return false;
	}
	cv::Mat depthImg(m_DepthHeight,m_DepthWidth,CV_16U, m_depthImagePixelBuffer);
	image = depthImg;
	return true;
}
Ejemplo n.º 24
0
void SimpleKinect::UpdateDepth()
{
	HRESULT hr;
    NUI_IMAGE_FRAME imageFrame;
	hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_pDepthStreamHandle, 0, &imageFrame);
    if (FAILED(hr))
    {
        return;
    }

	INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT LockedRect;

	// Lock the frame data so the Kinect knows not to modify it while we're reading it
    pTexture->LockRect(0, &LockedRect, NULL, 0);

	// make sure we're receiving real data
	if (LockedRect.Pitch == 0) 
	{
		return;
	}

	// copy current to old
	memcpy(m_pPrevDepth, m_pCurrentDepth, LockedRect.size);
	    
	// copy in data to current
	memcpy(m_pCurrentDepth, LockedRect.pBits, LockedRect.size);

    // We're done with the texture so unlock it
    pTexture->UnlockRect(0);

    // Release the frame
    m_pNuiSensor->NuiImageStreamReleaseFrame(m_pDepthStreamHandle, &imageFrame);

	
	// update the mapping from depth to color
	hr = m_pNuiSensor->NuiImageGetColorPixelCoordinateFrameFromDepthPixelFrameAtResolution(
		NUI_IMAGE_RESOLUTION_640x480,
		NUI_IMAGE_RESOLUTION_640x480,
		cDepthWidth * cDepthHeight,
		m_pCurrentDepth,
		cDepthWidth * cDepthHeight * 2,
		m_pDepthToColorCoordinates
		);

	if(FAILED(hr))
	{
		return;
	}
}
Ejemplo n.º 25
0
void storeNuiDepth(void)
{
	NUI_IMAGE_FRAME depthFrame;

	if(WAIT_OBJECT_0 != WaitForSingleObject(hNextDepthFrameEvent, 0)) return;

	HRESULT hr = pNuiSensor->NuiImageStreamGetNextFrame(
		pDepthStreamHandle,
		0,
		&depthFrame );
	if( FAILED( hr ) ){
		return;
	}
	if(depthFrame.eImageType != NUI_IMAGE_TYPE_DEPTH_AND_PLAYER_INDEX)
		STDERR("Depth type is not match with the depth and players\r\n");

	INuiFrameTexture *pTexture = depthFrame.pFrameTexture;
	NUI_LOCKED_RECT LockedRect;
	pTexture->LockRect( 0, &LockedRect, NULL, 0 );
	if( LockedRect.Pitch != 0 ){
		unsigned short *pBuffer = (unsigned short *)LockedRect.pBits;
		memcpy(depth, LockedRect.pBits, pTexture->BufferLen());
#if defined(USE_FACETRACKER)
		setDepthImage(LockedRect.pBits, LockedRect.size);
#endif

		NUI_SURFACE_DESC pDesc;
		pTexture->GetLevelDesc(0, &pDesc);
		//printf("w: %d, h: %d, byte/pixel: %d\r\n", pDesc.Width, pDesc.Height, LockedRect.Pitch/pDesc.Width);

		unsigned short *p = (unsigned short *)pBuffer;
		for(int i=0;i<pTexture->BufferLen()/2;i++){
			//*p = (unsigned short)((*p & 0xff00)>>8) | ((*p & 0x00ff)<<8);	// for test
			//*p = (unsigned short)((*p & 0xfff8)>>3);
			*p = (unsigned short)(NuiDepthPixelToDepth(*pBuffer));
			p++;
		}
		glBindTexture(GL_TEXTURE_2D, bg_texture[DEPTH_TEXTURE]);
		glPixelStorei(GL_UNPACK_ALIGNMENT, 2);
		glTexImage2D(GL_TEXTURE_2D, 0, GL_LUMINANCE,
			pDesc.Width,  pDesc.Height,
			0, GL_LUMINANCE, GL_UNSIGNED_SHORT, pBuffer);
		pTexture->UnlockRect(0);
	}
	else{
		STDERR("Buffer length of received texture is bogus\r\n");
	}
	pNuiSensor->NuiImageStreamReleaseFrame( pDepthStreamHandle, &depthFrame );
}
Ejemplo n.º 26
0
bool KinectImageSource::next() {

#ifdef WITH_MSKINECT_SDK
    // Attempt to get the color frame
    HRESULT hr;
    hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_pColorStreamHandle, 0, &imageFrame);

    if (FAILED(hr))
    {
        return false;
    }

    INuiFrameTexture * pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT LockedRect;

    // Lock the frame data so the Kinect knows not to modify it while we're reading it
    pTexture->LockRect(0, &LockedRect, NULL, 0);

    // Make sure we've received valid data
    if (LockedRect.Pitch != 0)
    {
        // Draw the data with Direct2D
        //m_pDrawColor->Draw(static_cast<BYTE *>(LockedRect.pBits), LockedRect.size);
        frame = Mat(480, 640, CV_8UC4, static_cast<BYTE *>(LockedRect.pBits));

        // Write out the bitmap to disk
        //static_cast<BYTE *>(LockedRect.pBits), cColorWidth, cColorHeight, 32
        //BYTE* pBitmapBits,                     LONG lWidth, LONG lHeight, WORD wBitsPerPixel
        /// <param name="pBitmapBits">image data to save</param>
        /// <param name="lWidth">width (in pixels) of input image data</param>
        /// <param name="lHeight">height (in pixels) of input image data</param>
        /// <param name="wBitsPerPixel">bits per pixel of image data</param>

        /// Standard RGB, no compression
    }

    // We're done with the texture so unlock it
    pTexture->UnlockRect(0);

    // Release the frame
    m_pNuiSensor->NuiImageStreamReleaseFrame(m_pColorStreamHandle, &imageFrame);

    return true;
#else
    std::cerr << "Error! This is the Microsoft Kinect SDK interface and not available under Linux." << std::endl;
    return false;
#endif
}
Ejemplo n.º 27
0
void Helper::depthFloatToPointCloud(::NUI_FUSION_IMAGE_FRAME * pDepthFloatImage, PCloud &outCloud)
{
    
    INuiFrameTexture *imageFrameTexture = pDepthFloatImage->pFrameTexture;
    NUI_LOCKED_RECT LockedRect;

    imageFrameTexture->LockRect(0, &LockedRect, nullptr, 0);

    if (LockedRect.Pitch) {

        assert(NUI_FUSION_IMAGE_TYPE_FLOAT == pDepthFloatImage->imageType);

        outCloud.width = pDepthFloatImage->width * pDepthFloatImage->height;
        outCloud.height = 1;
        outCloud.is_dense = true;
        outCloud.points.reserve(outCloud.width * outCloud.height);

        const float *pFloatBuffer = reinterpret_cast<float *>(LockedRect.pBits);
        const float cx = 319.5f;// pDepthFloatImage->pCameraParameters->principalPointX;
        const float cy = 239.5f;// pDepthFloatImage->pCameraParameters->principalPointY;
        const float fx = 1.0 / 571.4;// pDepthFloatImage->pCameraParameters->focalLengthX;
        const float fy = 1.0 / 571.4;// pDepthFloatImage->pCameraParameters->focalLengthY;

        //Concurrency::parallel_for(0u, pDepthFloatImage->height, [&](unsigned int y)
        for (unsigned int y = 0; y < pDepthFloatImage->height; ++y)
        {
            const float* pFloatRow = reinterpret_cast<const float*>(reinterpret_cast<const unsigned char*>(pFloatBuffer)+(y * LockedRect.Pitch));

            for (unsigned int x = 0; x < pDepthFloatImage->width; ++x)
            {
                float depth = pFloatRow[x];
                
                if (depth < 1e-6 || depth > 10.) {
                    continue;
                }
                float vx = (1.f * x - cx) * fx * depth;
                float vy = (1.f * y - cy) * fy * depth;
                float vz = depth;

                outCloud.push_back(PCloud::PointType(vx, vy, vz));
            }
        }
        //);
    }
    imageFrameTexture->UnlockRect(0);

    outCloud.width = outCloud.points.size();
}
Ejemplo n.º 28
0
char* KTM::KinectWrapper::getColorFromKinectStream(){
    HRESULT hr;

	/* Get the next frame from the Kinect stream */
    NUI_IMAGE_FRAME imageFrame;
    hr = pKinectSensor->NuiImageStreamGetNextFrame(hColorStreamHandle, 0, &imageFrame);

	/* Quit if the frame couldn't be recieved */
    if (FAILED(hr))
        return NULL;

	/* Get the frame as a texture so we can get the frame rectangle */
	/* and lock the handle on the frame so it's not overwritten by  */
	/* the Kinect while we're using it                              */
    INuiFrameTexture* pTexture = imageFrame.pFrameTexture;
    NUI_LOCKED_RECT lockedRect;
    pTexture->LockRect(0, &lockedRect, NULL, 0);

	/* Use the assigned data heap to avoid memory leaks and avoid */
	/* needlessly assigning new memory                            */
	char* mFrameData = mRGBDataHeap;

    /* Make sure we have valid data */
    if (lockedRect.Pitch != 0){
		

		/* Pointer to the top left corner of rectangle, and pointer */
		/* to the frame end                                         */
        const char* pBufferRun = (const char*)lockedRect.pBits;
        const char* pBufferEnd = pBufferRun + (RGBFrameWidth * RGBFrameHeight * 4);
		if(OUT_FRAME_CHANNELS == 4){
			memcpy(mFrameData, pBufferRun, pBufferEnd - pBufferRun);
		}else{
			int s = pBufferEnd - pBufferRun;
			for(int i = 0, j = 0; i < s; i++){
				mFrameData[j++] = pBufferRun[i++];
				mFrameData[j++] = pBufferRun[i++];
				mFrameData[j++] = pBufferRun[i++];
			}
		}
    }

    /* Unlock the rectangle and release the frame */
    pTexture->UnlockRect(0);
    pKinectSensor->NuiImageStreamReleaseFrame(hColorStreamHandle, &imageFrame);

	return mFrameData;
}
/// <summary>
/// Handle new depth data
/// </summary>
/// <returns>S_OK on success, otherwise failure code</returns>
HRESULT CBackgroundRemovalBasics::ProcessDepth()
{
    HRESULT hr;
	HRESULT bghr = S_OK;
    NUI_IMAGE_FRAME imageFrame;

    // Attempt to get the depth frame
    LARGE_INTEGER depthTimeStamp;
    hr = m_pNuiSensor->NuiImageStreamGetNextFrame(m_pDepthStreamHandle, 0, &imageFrame);
    if (FAILED(hr))
    {
        return hr;
    }
    depthTimeStamp = imageFrame.liTimeStamp;
    INuiFrameTexture* pTexture;

    // Attempt to get the extended depth texture
    hr = m_pNuiSensor->NuiImageFrameGetDepthImagePixelFrameTexture(m_pDepthStreamHandle, &imageFrame, &m_bNearMode, &pTexture);
    if (FAILED(hr))
    {
        return hr;
    }
    NUI_LOCKED_RECT LockedRect;

    // Lock the frame data so the Kinect knows not to modify it while we're reading it
    pTexture->LockRect(0, &LockedRect, NULL, 0);

    // Make sure we've received valid data, and then present it to the background removed color stream. 
	if (LockedRect.Pitch != 0)
	{
		bghr = m_pBackgroundRemovalStream->ProcessDepth(m_depthWidth * m_depthHeight * cBytesPerPixel, LockedRect.pBits, depthTimeStamp);
	}

    // We're done with the texture so unlock it. Even if above process failed, we still need to unlock and release.
    pTexture->UnlockRect(0);
    pTexture->Release();

    // Release the frame
    hr = m_pNuiSensor->NuiImageStreamReleaseFrame(m_pDepthStreamHandle, &imageFrame);

	if (FAILED(bghr))
	{
		return bghr;
	}

    return hr;
}
Ejemplo n.º 30
0
    void nextColorFrame ()
    {
        NUI_IMAGE_FRAME colorFrame;

        WinRet ret = sensor->NuiImageStreamGetNextFrame(colorStreamHandle, 0, &colorFrame);

        if (FAILED(ret))
            return;

        INuiFrameTexture* texture = colorFrame.pFrameTexture;
        NUI_LOCKED_RECT lockedRect;
        texture->LockRect(0, &lockedRect, NULL, 0);
        if (lockedRect.Pitch != 0)
        {
            NUI_SURFACE_DESC surfaceDesc;
            texture->GetLevelDesc(0, &surfaceDesc);
            const int width  = surfaceDesc.Width;
            const int height = surfaceDesc.Height;

            ntk_assert( width == that->m_current_image.rawRgb().cols, "Bad width");
            ntk_assert(height == that->m_current_image.rawRgb().rows, "Bad height");

            uint8_t* buf = static_cast<uint8_t*>(lockedRect.pBits);
            // size_t  size = size_t(lockedRect.size);

            {
                QWriteLocker locker(&that->m_lock);
                cvtColor(cv::Mat4b(height, width, (cv::Vec4b*)buf), that->m_current_image.rawRgbRef(), CV_RGBA2RGB);
            }

            // std::copy(buf, buf + 3 * width * height, (uint8_t*) that->m_current_image.rawRgbRef().ptr());
            // cvtColor(that->m_current_image.rawRgb(), that->m_current_image.rawRgbRef(), CV_RGB2BGR);

            // m_pDrawColor->Draw( static_cast<BYTE *>(LockedRect.pBits), LockedRect.size );
        }
        else
        {
            debug(L"Buffer length of received texture is bogus\r\n");
        }

        texture->UnlockRect(0);

        sensor->NuiImageStreamReleaseFrame(colorStreamHandle, &colorFrame);

        dirtyColor = false;
    }